Take it from an old pro, Yes, You SHOULD work out today.
There is a difference between sore and hurt. Sore is a good thing, hurt is a bad thing. If you are really sore, you should warm up longer to get your muscles ready for strength training. I do 20 minutes on the bike and 15 minutes of Abs before I lift.
Then after you lift you should stretch then do a cool down to allow the lactic acid in your muscles to dissipate into your blood stream. This will keep you from getting so sore and will help you see results faster.